CN110549342A - End effector and target object capturing method - Google Patents
End effector and target object capturing method Download PDFInfo
- Publication number
- CN110549342A CN110549342A CN201910919488.0A CN201910919488A CN110549342A CN 110549342 A CN110549342 A CN 110549342A CN 201910919488 A CN201910919488 A CN 201910919488A CN 110549342 A CN110549342 A CN 110549342A
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- 239000012636 effector Substances 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 230000000452 restraining effect Effects 0.000 claims abstract 2
- 229910000831 Steel Inorganic materials 0.000 claims description 34
- 239000010959 steel Substances 0.000 claims description 34
- 238000013461 design Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The tail end actuator comprises a body, a capturing mechanism and a dragging mechanism, wherein the capturing mechanism and the dragging mechanism are arranged in the body, the dragging mechanism is fixed with the body, the output end of the dragging mechanism is connected with the capturing mechanism, the tail end actuator also comprises a deviation correcting mechanism, and the deviation correcting mechanism is fixed in the body and used for restraining a target object and adjusting the yaw angle of the target object to be within a preset range. Also provided herein is a method of capturing a target comprising: capturing a target object, correcting the target object and dragging the target object. The invention relates to the field of space station mechanical arms, and provides an end effector and a target object capturing method, which can overcome the problems of small capturing space tolerance and large touch impact force, realize posture deviation rectifying adjustment on a target object, realize soft contact capturing of the end effector on the target object under the condition of large tolerance, reduce the posture parameter requirements on a captured object of a space station, and improve the capturing success rate of the target object of the space station.
Description
Technical Field
The invention relates to the field of space station mechanical arms, in particular to an end effector and a target object capturing method.
Background
A space station mechanical arm is one of the major key technologies of aerospace engineering in China, and comprises a core cabin mechanical arm and an experiment cabin mechanical arm. The space station mechanical arm has the functions of cabin capture and transfer, instrument and equipment transfer and installation, astronaut operation assistance and the like. The on-orbit capture technology is an important branch of the space on-orbit service technology, and the capture of the operation target is realized by a docking mechanism or an end effector which is arranged on a space station mechanical arm or an aircraft. The end effectors installed at the two ends of the manipulator are important components of a space manipulator system, are basic and important devices for achieving functions of capturing, locking, electrically connecting and the like of space station targets, and generally achieve the current capturing process of a space through an end effector capturing adapter. The successful capture of the target object by the end effector is a precondition and a key link for the core cabin mechanical arm to successfully complete other tasks of the space station.
At present, the end effectors of space station mechanical arms applied at home and abroad mainly have two types: one type is a cone-rod type, the other type is a variant isomorphic peripheral type, the two types of actuators have the problems of small tolerance, low deviation correction capability and the like in space station capturing, and the capturing success rate is low under the conditions of large tolerance or captured object posture change. With the continuous development of aerospace technology, material science and mechanical science, the tail end actuating mechanism of the mechanical arm of the space station is continuously developed. Most typically, the company MDA (MacDonald Dettwiler and Associates Ltd.) in canada develops an end effector for an international space station, which can capture a target object with a large load at the space station, but still has the problems of small capture space tolerance, large contact impact force, strict requirements on the posture and capture space of the captured object, and even capture failure.
Disclosure of Invention
The invention provides an end effector and a target capturing method, which can overcome the problems of small capturing space tolerance and large touch impact force, realize the posture correction adjustment of the target, realize the soft contact capturing of the end effector on the target under the condition of large tolerance, reduce the posture parameter requirement on the captured object of a space station and improve the capturing success rate of the target of the space station.
in order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides an end effector, includes the body to and set up at this internal capture mechanism and the mechanism of dragging, it is fixed with the body to drag the mechanism, just drag the output of mechanism with it connects to catch the mechanism, still includes the mechanism of rectifying, it fixes to rectify the mechanism this is internal, for the constraint target object and with the yaw angle adjustment of target object to predetermineeing the within range.
In one possible embodiment, the dragging mechanism and the deviation correcting mechanism are arranged at an interval, and the capturing mechanism is arranged between the dragging mechanism and the deviation correcting mechanism.
The deviation rectifying mechanism comprises a deviation rectifying motor, a deviation rectifying ring and a deviation rectifying steel wire rope, wherein the deviation rectifying motor and the deviation rectifying ring are fixed on the inner wall of the body, and the deviation rectifying steel wire ropes are interwoven in the deviation rectifying ring and used for binding a target object.
according to one possible design, the deviation-rectifying ring comprises a deviation-rectifying rotating ring and a deviation-rectifying fixing ring which are stacked up and down, the deviation-rectifying fixing ring is fixed with the body, and the deviation-rectifying rotating ring is rotationally connected with the body; one end of the deviation-rectifying steel wire rope is connected with the deviation-rectifying fixed ring, and the other end of the deviation-rectifying steel wire rope is connected with the deviation-rectifying rotating ring; the output end of the deviation rectifying motor is connected with the deviation rectifying rotating ring and used for driving the deviation rectifying rotating ring to rotate so that the deviation rectifying steel wire rope is contracted, bound or retracted to release the target object.
according to a possible design, the inner wall of the deviation rectifying ring is provided with a containing groove used for containing the collected deviation rectifying steel wire rope.
In one possible design, the dragging mechanism and the deviation rectifying mechanism are respectively arranged at two ends of the body, and the deviation rectifying mechanism and the capturing mechanism are arranged in parallel.
According to a possible design, the inner wall of the body is provided with an annular slide way, and the deviation rectifying rotating ring is connected with the body through the annular slide way arranged on the periphery of the deviation rectifying rotating ring.
In one possible design, the deviation-correcting motor is arranged on one side of the deviation-correcting mechanism facing the capturing mechanism, and the deviation-correcting rotating ring is connected with the deviation-correcting motor through a deviation-correcting connecting piece.
In one possible design, the dragging mechanism includes a lead screw assembly and a sliding assembly, the lead screw assembly is connected with the capturing mechanism, and the sliding assembly is arranged between the capturing mechanism and the body.
One possible design is that the capture mechanism comprises a capture motor, a capture ring and a capture wire rope, both of which are connected to the drag mechanism, and a plurality of capture wire ropes are interwoven within the capture ring for binding the target.
Also provided herein is a method of capturing a target, comprising:
Capturing a target, the capturing mechanism rotationally binding the target;
The deviation rectifying mechanism rotates to bound the target object and adjusts the yaw angle;
And dragging the target object, wherein the dragging mechanism drags the target object to the bottom of the end effector.
the embodiment of the invention has the following beneficial effects:
The deviation correcting mechanism of the embodiment of the invention can realize the posture deviation correcting adjustment of the target object, realize the soft contact capture of the end effector to the target object under the condition of large tolerance, reduce the posture parameter requirement on the captured object of the space station and improve the capture success rate of the target object of the space station.
additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic view of an end effector according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a deviation rectification mechanism;
FIG. 3 is a schematic view of a capture mechanism;
Fig. 4 is a schematic view of an end effector capture method.
reference numerals: 1-body, 2-dragging motor, 3-lead screw, 4-capturing motor, 5-deviation-correcting motor, 6-linear guide rail, 7-guide rail slide block, 8-bracket, 9-capturing connecting piece, 10-capturing ring, 11-capturing steel wire rope, 12-deviation-correcting connecting piece, 13-deviation-correcting ring, 14-deviation-correcting steel wire rope, 15-deviation-correcting motor bracket, 16-annular slideway, 17-capturing motor bracket, 18-capturing gear, 19-deviation-correcting gear, 21-capturing fixed ring, 22-capturing rotating ring, 23-deviation-correcting rotating ring, 24-deviation-correcting fixed ring, 25-first tooth surface, 26-groove, 27-second tooth surface, 28-accommodating groove, 29-capturing area and 30-deviation-correcting area.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description of the embodiments of the present invention is provided with reference to the accompanying drawings, and it should be noted that, in the case of conflict, the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other.
Please refer to fig. 1 to 3 for an end effector according to an embodiment of the present invention. As shown in fig. 1, the end effector includes a body 1, and a capturing mechanism and a dragging mechanism disposed in the body 1, wherein the dragging mechanism is fixed to the body, and an output end of the dragging mechanism is connected to the capturing mechanism. In particular, the end effector further comprises a deviation rectifying mechanism, the deviation rectifying mechanism is also fixed in the body 1, and the deviation rectifying mechanism can restrain the target object to adjust the yaw angle of the target object to be within a preset range. Therefore, the end effector has large tolerance to pitch, yaw, radial and other parameters in the capturing stage, and the contact collision force in the capturing stage is greatly reduced.
Specifically, as shown in fig. 1, the body 1 is hollow tubular, the deviation correcting mechanism and the dragging mechanism are respectively disposed at the top end and the bottom end thereof, and the capturing mechanism is disposed between the deviation correcting mechanism and the dragging mechanism. With regard to the drive mechanism, it includes the lead screw subassembly, wherein, the lead screw subassembly specifically includes drive motor 2 and lead screw 3 again, should drive motor 2 and fix in body 1 bottom and its output and be equipped with lead screw 3 for drive motor 2 and can drive lead screw 3 and rotate.
As for the catching mechanism, as shown in fig. 1 and 2, it includes a catching motor 4, a catching ring 10 and a catching wire rope 11, wherein the catching ring 10 is further divided into a catching rotating ring 22 and a catching fixed ring 21 which are rotatably connected, the catching fixed ring 21 is disposed at the lower side of the catching rotating ring 22, and the bottom of the catching rotating ring 22 is connected to the catching fixed ring 21 by a ring-shaped rotating member so that it can rotate on the catching fixed ring 21. The three capturing steel wire ropes 11 are interwoven in the capturing ring 10, one end of any capturing steel wire rope 11 is fixed on the inner wall of the capturing rotating ring 22, the other end of the capturing steel wire rope is fixed on the inner wall of the capturing fixing ring 21, the three capturing steel wire ropes 11 form a triangular capturing area 29 in the center of the capturing ring 10, and when the capturing rotating ring 22 rotates, the size of the capturing area 29 changes along with the three capturing steel wire ropes 11, so that the three capturing steel wire ropes 11 jointly restrain objects with different shapes and sizes. Therefore, the capture target is positioned in the capture area 29, when the target needs to be captured, the capture rotating ring 22 is rotated, the capture area 29 surrounded by the capture steel wire rope 11 can be continuously tightened until the capture steel wire rope 11 surrounds and locks the target to stop, and capture is realized. In addition, the inner wall of the catching ring 10 is provided with a concave groove 26, when catching is not needed, the catching wire rope 11 needs to be unfolded, that is, the catching wire rope 11 can be attached to the inner wall of the catching ring 10 after the catching rotating ring 22 is rotated and adjusted, and at this time, the catching wire rope is embedded into the groove 26 and completely sunk into the catching ring 10. The catching motor 4 is connected with the catching rotating ring 22 through the catching connecting piece 9, the upper end of the catching connecting piece 9 is fixed with the outer wall of the catching rotating ring 22, the catching connecting piece 9 spans the catching fixed ring 21, the lower end of the catching connecting piece is provided with a first tooth surface 25 extending along the arc direction, correspondingly, the output end of the catching motor 4 is provided with a catching gear 18, and the catching gear 18 is meshed with the first tooth surface 25, so that the catching motor 4 can drive the catching rotating ring 22 to rotate. The capturing and fixing ring 21 is connected with a dragging mechanism through a bracket 8, wherein the upper end of the bracket 8 is fixed with the fixing ring 21, and the lower end of the bracket 8 is in threaded connection with the lead screw 3, so that when the lead screw 3 rotates, the bracket 8 can pull the capturing and fixing ring 21 to move upwards or downwards. For synchronous movement, the catch motor 4 is also fixed to the carriage 8 by means of a catch motor carriage 17. In addition, in order to stably drag the capturing mechanism, a sliding assembly is arranged between the capturing mechanism and the body and comprises a guide rail sliding block 7 and a linear guide rail 6, the guide rail sliding block 7 is further arranged at one end, connected with the screw rod 3, of the support 8, correspondingly, the linear guide rail 6 arranged along the length direction of the inner wall of the body 1 is arranged on the inner wall of the body 1, and the guide rail sliding block 7 is slidably arranged on the linear guide rail 6 to play a guiding role.
As shown in fig. 1 and 3, the deviation correcting mechanism includes a deviation correcting motor 5, a deviation correcting ring 13 and a deviation correcting wire rope 14, wherein the deviation correcting ring 13 includes a deviation correcting rotating ring 23 and a deviation correcting fixing ring 24, the deviation correcting fixing ring 24 is disposed at the lower side of the deviation correcting rotating ring 23, the outer wall of the deviation correcting rotating ring 23 is provided with an annular slideway 16, which is rotatably connected with the body 1 by the annular slideway 16, so that the deviation correcting rotating ring 23 alone can rotate in the body 1; the outer wall of the deviation-rectifying fixing ring 24 is fixed with the body 1 to limit the deviation-rectifying fixing ring 24. Like the capturing steel wire rope 11, the three deviation-correcting steel wire ropes 14 are interwoven in the deviation-correcting ring 13, one end of any deviation-correcting steel wire rope 14 is fixed on the inner wall of the deviation-correcting rotating ring 23, the other end of the deviation-correcting steel wire rope is fixed on the inner wall of the deviation-correcting fixing ring 24, the three deviation-correcting steel wire ropes 14 surround a triangular deviation-correcting area 30 in the center of the deviation-correcting ring 13, and when the deviation-correcting rotating ring 23 rotates, the size of the deviation-correcting area 30 changes accordingly, so that the three deviation-correcting steel. Therefore, when the posture of the target object needs to be adjusted, the deviation rectifying area 30 enclosed by the deviation rectifying steel wire ropes 14 can be continuously tightened by rotating the deviation rectifying rotating ring 23, one or two deviation rectifying steel wire ropes 14 contact the target object, the inclined target object is dragged to return to be positive until the yaw angle of the target object is within the preset range, and deviation rectification is achieved. In addition, the inner wall of the deviation rectifying ring 13 is also provided with a recessed accommodating groove 28, like the groove 26, which can accommodate the deviation rectifying steel wire rope 14, so that the deviation rectifying steel wire rope is embedded in the accommodating groove 28 and completely hidden in the deviation rectifying ring 13. The deviation-rectifying motor 5 is fixed on the inner wall of the body 1 through a deviation-rectifying motor support 15, and is connected with the deviation-rectifying rotating ring 23 through a deviation-rectifying connecting piece 12, the upper end of the deviation-rectifying connecting piece 12 is fixed on the outer wall of the deviation-rectifying rotating ring 23, the deviation-rectifying connecting piece 12 spans the deviation-rectifying fixing ring 24, the lower end of the deviation-rectifying connecting piece is provided with a second tooth surface 27 extending along the arc direction, correspondingly, the output end of the deviation-rectifying motor 5 is provided with a deviation-rectifying gear 19, and the deviation-rectifying gear 19 is meshed with the second tooth surface 27.
Therefore, the capturing motor 4, the deviation correcting motor 5 and the dragging motor 2 respectively drive the capturing mechanism, the deviation correcting mechanism and the dragging mechanism to act, the capturing, deviation correcting and dragging processes can be completed independently, the fault tolerance is large, and the real-time adjustment can be carried out according to the condition of a target object. The capturing mechanism and the deviation rectifying mechanism respectively bind the target object through the capturing steel wire rope 11 and the deviation rectifying steel wire rope 14, soft contact of the target object is achieved, contact collision force is reduced, capturing success rate is improved, meanwhile, the deviation rectifying mechanism corrects the posture with large deviation to a safe capturing range, and the tolerance range of the end effector is greatly improved.
As shown in fig. 1 and 4, the capturing process of the end effector is mainly divided into three steps, which are respectively according to the sequence of work: step 1, capturing a target object; step 2, correcting the target object; and 3, dragging the target object. Firstly, before the catching, the catching wire rope 11 and the deviation correcting wire rope 14 are respectively positioned in the groove 26 and the accommodating groove 28, and the target object can not be interfered to enter the inside of the body 1. In the capturing stage, after the target object enters the body 1 of the end effector, an operator starts the capturing motor 4, the capturing gear 18 rotates to drive the capturing rotating ring 22 to rotate together, the capturing rotating ring 22 rotates to enable the capturing steel wire rope 11 to contract until the capturing steel wire rope 11 contracts to completely wrap the target object, and the capturing process of one end of the target object is completed. And then, correcting the deviation, wherein an operator starts the deviation correcting motor 5 to drive the deviation correcting gear 19 to rotate, so that the deviation correcting rotating ring 23 rotates together, the deviation correcting steel wire rope 14 contracts and limits the target object, the deviation correcting process of the target object is completed, and the original larger pitch and yaw angle of the target object is corrected and adjusted within a reasonable range. And finally, dragging, wherein the screw rod 3 is driven to rotate through the rotation of the dragging motor 2, the rotation of the screw rod 3 drags the capturing mechanism to the bottom of the end effector, the dragging process is completed, and the capturing of the target object is realized.
By combining the embodiment, the deviation correcting mechanism provided by the embodiment of the invention can realize the posture deviation correcting adjustment of the target object, and the soft contact capture of the end effector on the target object is realized under the condition of large tolerance, so that the posture parameter requirement on the captured object of the space station is reduced, and the capture success rate of the target object of the space station is improved.
In the description of the present application, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (11)
1. The end effector comprises a body, a capturing mechanism and a dragging mechanism, wherein the capturing mechanism and the dragging mechanism are arranged in the body, the dragging mechanism is fixed with the body, the output end of the dragging mechanism is connected with the capturing mechanism, and the end effector is characterized by further comprising a deviation correcting mechanism which is fixed in the body and used for restraining a target object and adjusting the yaw angle of the target object to a preset range.
2. The end effector as claimed in claim 1, wherein the drag mechanism is spaced from the deskew mechanism, and the capture mechanism is disposed between the drag mechanism and the deskew mechanism.
3. The end effector as claimed in claim 2, wherein the deviation correcting mechanism includes a deviation correcting motor, a deviation correcting ring and a deviation correcting wire rope, the deviation correcting motor and the deviation correcting ring are fixed on the inner wall of the body, and a plurality of deviation correcting wire ropes are interlaced in the deviation correcting ring for binding the target object.
4. The end effector as claimed in claim 3, wherein the deviation rectifying ring includes a deviation rectifying rotary ring and a deviation rectifying fixed ring stacked up and down, the deviation rectifying fixed ring is fixed to the body, and the deviation rectifying rotary ring is rotatably connected to the body; one end of the deviation-rectifying steel wire rope is connected with the deviation-rectifying fixed ring, and the other end of the deviation-rectifying steel wire rope is connected with the deviation-rectifying rotating ring; the output end of the deviation rectifying motor is connected with the deviation rectifying rotating ring and used for driving the deviation rectifying rotating ring to rotate so that the deviation rectifying steel wire rope is contracted, bound or retracted to release the target object.
5. The end effector as claimed in claim 3, wherein the inner wall of the deviation rectifying ring is provided with a receiving groove for receiving the retracted deviation rectifying wire rope.
6. the end effector as claimed in claim 2, wherein the dragging mechanism and the deviation correcting mechanism are respectively provided at both ends of the body, and the deviation correcting mechanism and the capturing mechanism are provided in parallel.
7. the end effector as claimed in claim 4, wherein the inner wall of the body is provided with an annular slide, and the deviation correcting rotary ring is connected to the body through the annular slide provided at the outer periphery thereof.
8. The end effector as claimed in claim 4, wherein the de-skew motor is disposed on a side of the de-skew mechanism facing the capture mechanism, and the de-skew rotating ring is connected to the de-skew motor by a de-skew connector.
9. The end effector as claimed in any one of claims 1 to 8, wherein the drag mechanism includes a lead screw assembly and a slide assembly, the lead screw assembly being connected to the capture mechanism, the slide assembly being disposed between the capture mechanism and the body.
10. The end effector as claimed in any one of claims 1 to 8, wherein the capturing mechanism includes a capturing motor, a capturing ring and a capturing wire rope, both of which are connected to the dragging mechanism, and a plurality of capturing wire ropes are interlaced in the capturing ring for binding the target.
11. A method of capturing a target object, comprising:
Capturing a target, the capturing mechanism rotationally binding the target;
The deviation rectifying mechanism rotates to bound the target object and adjusts the yaw angle;
And dragging the target object, wherein the dragging mechanism drags the target object to the bottom of the end effector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910919488.0A CN110549342B (en) | 2019-09-26 | 2019-09-26 | End effector and target object capturing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910919488.0A CN110549342B (en) | 2019-09-26 | 2019-09-26 | End effector and target object capturing method |
Publications (2)
| Publication Number | Publication Date |
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| CN110549342A true CN110549342A (en) | 2019-12-10 |
| CN110549342B CN110549342B (en) | 2021-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910919488.0A Expired - Fee Related CN110549342B (en) | 2019-09-26 | 2019-09-26 | End effector and target object capturing method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911406A (en) * | 2021-10-11 | 2022-01-11 | 北京空间飞行器总体设计部 | Lasso formula space capture device |
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| JPH02160493A (en) * | 1988-12-07 | 1990-06-20 | Mitsubishi Electric Corp | End effector for space robot |
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| CN204279986U (en) * | 2014-11-11 | 2015-04-22 | 上海宇航系统工程研究所 | A kind of aircraft catches connection and disengagement gear and aircraft mechanism |
| US9862504B1 (en) * | 2014-04-04 | 2018-01-09 | Olaeris, Inc. | Positioning hovering objects for docking |
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2019
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| JPH02160493A (en) * | 1988-12-07 | 1990-06-20 | Mitsubishi Electric Corp | End effector for space robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113911406A (en) * | 2021-10-11 | 2022-01-11 | 北京空间飞行器总体设计部 | Lasso formula space capture device |
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| CN110549342B (en) | 2021-10-29 |
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